JPH0852157A - Structure to correct deflection/bend of medical appliance stand device - Google Patents

Abstract

PURPOSE:To correct deflection of the support arm of an optical appliance stand device by attaching encoders at joints of the device to detect focus position of the medical optical appliance in the balancing stand device which can place a medical optical appliance at a required position in the air. CONSTITUTION:When a surgical microscope W1 is installed at the top of the stand device by way of a supportive parallel link 7, the top of the support arm 5 greatly bends down because of the weight of the microscope etc. And if the support arm 5 bends, the top of the correction arm 12 which is supported by the support arm 5 also bends down, and the axis on the bottom edge inserted, at a joint A of the support arm 5 rotates relatively. So the encoder E3 detects the rotation amount of the support arm 5 as the relative rotation amount is corrected. The correct up-down direction and position of the focus f is detected from such detected rotation amount, and relative position between the focus and the target (focus) shown on a tomogram D is precisely grasped.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a stand device of a balance type capable of stopping a heavy-duty medical optical device at a desired spatial position, and particularly to an encoder at a connecting point of the stand device. Is provided so that the focal position of the medical optical device can always be detected.

[0002]

2. Description of the Related Art In the field of brain surgery and heart surgery,
There is what is called microscopic surgery (MICROSURGERY), in which surgery is performed while observing the affected area with a surgical microscope as a "medical optical device". In such microscopic surgery, various stand devices are used to hold a heavy surgical microscope in a desired aerial position (see, for example, Japanese Patent Laid-Open No. 56-32110). This type of stand device generally rotatably (tiltably) supports an intermediate part of a holding link mechanism using a parallel link on a frame,
A balance structure is provided in which a surgical microscope is held at one end of the holding link mechanism, and a counterweight for canceling the weight of the surgical microscope is provided at the end opposite to the rotation fulcrum.

Further, recently, encoders are provided at a plurality of connection points (rotation points) of the stand device, and the focal position of the surgical microscope is calculated based on the detection value from the encoder. A system has been developed for displaying in tomographic images.

[0004]

However, in such a conventional technique, although the encoder is provided at the connecting point of the stand device to detect the focus position of the surgical microscope, Accurate detection that takes into account errors due to "deflection" is not possible. In other words, if the parallel link and the support arm constituting the stand device are completely rigid, and if the flexural deformation is "0", complete detection can be performed by the encoder. In particular, in the case of a medical stand device, the stand device is extended horizontally. In order to mount a very heavy surgical microscope (sometimes with additional equipment) on the tip of the support arm, the tip of this support arm bends downward and the vertical position of the focus of the surgical microscope accordingly. Becomes inaccurate.

The present invention has been made in view of such a conventional technique, and provides a deflection correction structure of a medical stand device capable of correcting the amount of deflection even if the support arm bends. It is a thing.

[0006]

In order to achieve the above-mentioned object, the deflection correcting structure of a medical stand device according to the present invention has a support arm extending from a connection point which is a starting point of the support arm to a tip of the support arm. A correction arm having a horizontal length corresponding to is attached, the tip of the correction arm is pivotally supported by the tip of the support arm, and the base end of the correction arm is provided with a shaft penetrating the connection point of the support arm, The rotation amount at the connection point of the support arm can be detected while the relative rotation amount of the shaft with respect to the connection point is corrected by the encoder provided with the correction function at the connection point.

[0007]

When the tip of the support arm bends downward due to the weight of the medical optical device, the tip of the correction arm also bends downward like the support arm, but the shaft on the base end side of the correction arm is connected to the support arm. Since it only penetrates the point, the shaft rotates relative to the connecting point of the support arm by the amount of bending of the tip of the correction arm. Therefore, the encoder with the correction function provided at the connection point can detect the rotation amount of the support arm while correcting the relative rotation amount.
The correct vertical position of the focus will be known.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below with reference to FIGS.
It will be described based on. It should be noted that in the drawing, X is a left-right direction (see FIG. 4), Y is a front-back direction, and Z is a vertical direction.

In the stand device of this embodiment, a part (a midway portion 4a) of a holding link mechanism 4 including a first parallel link 2 and a second parallel link 3 is pivotally supported on a rotation fulcrum S of a gantry 1. At the same time, the surgical microscope (medical optical device) W ₁ is held at the tip of the support arm 5 formed by extending the upper lateral arm 2a of the first parallel link 2 to the front side, and the second parallel link 3 is held.
It has a basic structure with a counterweight W ₂ to balance the. The support arm 5 is curved upward and has a structure that is unlikely to interfere with the doctor's head.

Specifically, a vertical tip arm 6 is pivotally supported at the tip of the support arm 5, and below the tip arm 6, a small supporting parallel link in which two parallel links are linked. 7 are provided. The operation microscope W ₁ is held at the bottom of the supporting parallel link 7.
The observation angle of the operating microscope W ₁ can be changed by deforming the supporting parallel link 7.

An L-shaped crank member 8 is pivotally supported at a connecting point α, which is the starting point of the support arm 5, and one end of the crank member 8 has a lateral sub-arm 9 and a tip arm 6 of the distal arm 6. It is connected to the upper end and the other end is connected to the gantry 1 via the vertical sub-arm 10. Even if the holding link mechanism 4 rotates about the rotation fulcrum S by the crank member 8 and the horizontal and vertical sub-arms 9 and 10, the crank member 8 does not rotate.
Is always maintained in a vertical state, and as a result, the supporting parallel link 7 for supporting the surgical microscope W ₁ does not fall, and the vertical state is always maintained. Meanwhile, the order surgery counterweight W ₂ commensurate with the weight of such a microscope W ₁ is attached, surgery to release the surgical microscope W ₁ microscope W ₁ as it is balanced in the air in the second parallel link 3 To stop.

In the stand device having such a structure, encoders E _{1 to} E ₉ for detecting the position of the focal point f of the operating microscope W ₁ are provided at each point.
First, the rotary unit 1a of the gantry 1 is provided with an encoder E ₁ for detecting the amount of rotation about the axis β ₁ . Encoder E ₁
By detecting the amount of rotation of the shaft beta ₁ in reveals the position in the lateral direction X of the focus f (see FIG. 4). That is, by rotating the gantry 1 and the holding link mechanism 4 about the axis β ₁ , the surgical microscope W ₁ swings to the left and right. The deflection of the surgical microscope W _{1 in} the left-right direction is an arc motion in a strict sense, but since this movement is extremely slight in the field of view enlarged by the surgical microscope W ₁ , it is almost horizontally moved in the left-right direction. There is no problem in recognizing that.

Further, the encoder E ₂ for detecting the position in the longitudinal direction (Y direction) of the focal point f is provided on the rotation supporting point S. Further, the connection point α that is the starting point of the supporting arm 5 has an encoder E ₃ for detecting the position in the vertical direction of the focus f (Z-direction) are provided. This encoder E
₃ is the most characteristic part of the present invention, and will be described in detail later.

In addition, another encoder E ₄ , E ₅ is provided on the support parallel link 7 provided at the tip of the support arm _5.
Is provided. The encoder E ₄ is for detecting the amount of rotation of the axis beta _2. The amount of rotation about this axis β ₂ is the focus f
Is effective in the case where is shifted from the axis β ₂ (in other words, it is unnecessary when the focal point f coincides with the axis β ₂ ). The encoder E ₅ detects the inclination of the surgical microscope W _{1 in} the β ₃ direction from the deformation amount of the supporting parallel link 7, and when the supporting parallel link 7 is as shown in the drawing, the front-back direction Y of the focus f. It detects the displacement at.

The encoder E ₆ detects the amount of rotation about the axis β ₄ . Encoder E ₇ is surgical microscope W
₁ is a linear type that detects the vertical position of itself. The upper transverse arms 7a of the supporting parallel linkage unit 7 is the length each variable, by changing the length of the upper transverse arms 7a, it is possible to displace the operating microscope W ₁ in the longitudinal direction Y. The encoder E ₈ is of linear type for detecting the amount of movement in the longitudinal direction Y. Encoder E ₉ is provided on the base of the operating microscope W _1. The encoder E ₉ detects the amount of tilt when only the operation microscope W ₁ is tilted independently in the β ₃ direction.

Then, the encoders E _{1 to} E as described above
_{If the} rotation amount and the displacement amount are detected by the method _{9, since} the length of the support arm 5 and the like is fixed in advance, the operation microscope W
The position of the focal point f of ₁ can be calculated. Therefore, the information of the encoders E _{1 to} E ₉ is stored in CT or MR.
A microcomputer MC for displaying a tomographic image D such as I
When the focal point f is superimposed and displayed on the tomographic image D displayed on the microcomputer MC, the positional relationship between the target (lesion) and the focal point f in the tomographic image D becomes clear. It is very convenient for performing surgery.

Specifically, three metal markers M are attached to the head of the patient 11, and the surgical microscope W ₁ is attached to the markers M.
The focal points f of the markers M are adjusted respectively and the positions thereof are stored in the microcomputer MC, and the origin (not shown) of the three markers M is calculated. Next, a tomographic image D of the head is taken with the marker M attached. Then, after obtaining the tomographic image D, the origins of the three markers M displayed in the tomographic image D are obtained, and the origin on the screen is matched with the previously stored origin to obtain the tomographic image D. The display of the focus f at the time of is linked with the movement of the stand device. That is, the doctor can instantly know where on the head the focus f of the surgical microscope W ₁ is located during surgery.

Next, the characteristic structure of the present invention will be described with reference to FIG.
~ It demonstrates based on FIG. That is, the correction arm 12 having the same horizontal length as the support arm 5 is provided beside the support arm 5. The correction arm 12 is slightly curved upward similarly to the support arm 5. The tip of the correction arm 12 is supported by the tip of the support arm 5. A shaft 13 is provided at the base end of the correction arm 12 (see FIG. 4), and the shaft 13 penetrates the connection point α of the support arm 5. The shaft 13 is connected to an encoder E ₃ for detecting the rotation amount of the support arm 5 at the connection point α. Therefore, the encoder E ₃ can detect the rotation amount of the support arm 5 at the connection point α in a state where the relative rotation amount of the shaft 13 with respect to the support arm 5 is corrected.

For example, as shown in FIG.
The surgical microscope W at the tip₁Is not provided,
Although it does not bend almost downward, as shown in FIG.
Surgical microscope W via the parallel link 7 for support₁Install
Then, the surgical microscope W₁Support arm 5 depending on the weight of the
Tip flexes greatly downwards. Thus, the support arm
5 is the operation microscope W₁D only downward due to the weight of
In case of deflection, the correction arm 12 is the same as the support arm 5.
Similarly, the tip side bends downward, but the shaft 13 on the base side is supported.
Since it only penetrates the connecting point α of the arm 5,
The shaft 13 is supported by an amount corresponding to the amount by which the tip of the
It rotates in the θ direction relative to the connection point α of the frame 5.
Therefore, the encoder E₇Then, this relative rotation amount is corrected
In this state, the amount of rotation of the support arm 5 is detected.
From this detected rotation amount, the correct vertical position of the focal point f can be determined.
I can know. According to this embodiment, the hand
Surgical microscope W₁Can accurately detect the vertical position of the focal point f
Therefore, the position of the focal point f can be accurately determined on the tomographic image D.
Can be displayed on the display, and the operator can use the surgical microscope W ₁of
The position of the focus f and the target (disease) shown in the tomographic image D
Nest) can be accurately grasped.

[0020]

As described above, the deflection correcting structure for a medical stand apparatus according to the present invention has an accurate deflection amount corrected even if the tip of the support arm is bent downward due to the weight of the medical optical apparatus. You can know the best focus position. Therefore, the focal position can be accurately displayed in the tomographic image, and the medical optical device can be used accurately and effectively.

[Brief description of drawings]

FIG. 1 is an overall side view showing a medical stand device of the present invention.

FIG. 2 is a side view showing the support arm without a medical optical device attached.

FIG. 3 is a side view showing the support arm with a medical optical device attached.

FIG. 4 is a side view showing a relationship between a support arm and a correction arm.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Stand 2 First parallel link 2a Upper side arm 3 Second parallel link 4 Holding link mechanism 4a Intermediate part 5 Support arm 7 Supporting parallel link 12 Correction arm 13 Axis S Rotating fulcrum f Focus W ₁ Surgical microscope (medical optics) equipment) W ₂ counterweight α connecting point E ₁ to E ₉ encoder

Claims (2)

[Claims] 1. A first parallel link and a second interlocking link with each other.
An intermediate part of a holding link mechanism composed of parallel links is attached to a rotation fulcrum of a gantry, and a medical optical device is held at a tip of a support arm formed by horizontally extending an upper lateral arm of the first parallel link. At the same time, the second parallel link is provided with a counter weight for balancing the rotational moment about the rotation fulcrum, and an encoder is provided at least at the connection point of the first parallel link to determine the focal position of the medical optical device. In a medical stand device that can be freely detected, a correction arm having a horizontal length corresponding to the support arm is attached from a connection point serving as a starting point of the support arm to a tip of the support arm, and a tip of the correction arm is A shaft that is axially supported at the tip of the support arm and that penetrates the connection point of the support arm is provided at the base end of the correction arm. A flexure correction structure for a medical stand device, wherein an encoder with a function makes it possible to detect the rotation amount at the connection point of the support arm while correcting the relative rotation amount with respect to the connection point of the shaft. 2. The medical device according to claim 1, wherein the medical optical device is held at the tip of the support arm via a support parallel link, and an encoder for detecting a focal position of the medical optical device is provided on the support parallel link. Correction structure for medical stand equipment.